Related papers: Modeling Human Temporal Uncertainty in Human-Agent…
Planning safe robot motions in the presence of humans requires reliable forecasts of future human motion. However, simply predicting the most likely motion from prior interactions does not guarantee safety. Such forecasts fail to model the…
As robots become ubiquitous in the workforce, it is essential that human-robot collaboration be both intuitive and adaptive. A robot's quality improves based on its ability to explicitly reason about the time-varying (i.e. learning curves)…
In human-robot teams, humans often start with an inaccurate model of the robot capabilities. As they interact with the robot, they infer the robot's capabilities and partially adapt to the robot, i.e., they might change their actions based…
Efficient and robust task planning for a human-robot collaboration (HRC) system remains challenging. The human-aware task planner needs to assign jobs to both robots and human workers so that they can work collaboratively to achieve better…
Multi-robot planning and coordination in uncertain environments is a fundamental computational challenge, since the belief space increases exponentially with the number of robots. In this paper, we address the problem of planning in…
The requirements of modern production systems together with more advanced robotic technologies have fostered the integration of teams comprising humans and autonomous robots. However, along with the potential benefits also comes the…
We consider the human-aware task planning problem where a human-robot team is given a shared task with a known objective to achieve. Recent approaches tackle it by modeling it as a team of independent, rational agents, where the robot plans…
A robot operating in isolation needs to reason over the uncertainty in its model of the world and adapt its own actions to account for this uncertainty. Similarly, a robot interacting with people needs to reason over its uncertainty over…
This work presents a methodology for modeling and predicting human behavior in settings with N humans interacting in highly multimodal scenarios (i.e. where there are many possible highly-distinct futures). A motivating example includes…
Understanding human intentions is critical for safe and effective human-robot collaboration. While state of the art methods for human goal prediction utilize learned models to account for the uncertainty of human motion data, that data is…
Human-robot teaming is one of the most important applications of artificial intelligence in the fast-growing field of robotics. For effective teaming, a robot must not only maintain a behavioral model of its human teammates to project the…
Interacting with human agents in complex scenarios presents a significant challenge for robotic navigation, particularly in environments that necessitate both collision avoidance and collaborative interaction, such as indoor spaces. Unlike…
In human-robot collaboration, the objectives of the human are often unknown to the robot. Moreover, even assuming a known objective, the human behavior is also uncertain. In order to plan a robust robot behavior, a key preliminary question…
This paper proposes an analytical framework for modelling resource contention in multi-robot systems, where the travel times and task durations are uncertain. It uses several approximation methods to quickly and accurately calculate the…
As human-robot collaboration increases in the workforce, it becomes essential for human-robot teams to coordinate efficiently and intuitively. Traditional approaches for human-robot scheduling either utilize exact methods that are…
This paper presents an iterative approach for heterogeneous multi-agent route planning in environments with unknown resource distributions. We focus on a team of robots with diverse capabilities tasked with executing missions specified…
This paper proposes a novel integrated dynamic method based on Behavior Trees for planning and allocating tasks in mixed human robot teams, suitable for manufacturing environments. The Behavior Tree formulation allows encoding a single job…
Intelligent robots are redefining a multitude of critical domains but are still far from being fully capable of assisting human peers in day-to-day tasks. An important requirement of collaboration is for each teammate to maintain and…
Effective human-robot collaboration requires informed anticipation. The robot must anticipate the human's actions, but also react quickly and intuitively when its predictions are wrong. The robot must plan its actions to account for the…
Team modeling remains a fundamental challenge at the intersection of Artificial Intelligence and Social Sciences. Although a variety of computational models have been proposed in the last two decades, most fail to integrate Social Sciences…